Collision Avoidance with Proximity Servoing for Redundant Serial Robot Manipulators

Ding, Yitao; Thomas, Ulrike

doi:10.1109/icra40945.2020.9196759

Cited by 26 publications

(16 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [20], [122] Ding et al present a Jacobian-type collisionavoidance scheme that is based on optimization, also taking into account the redundancy capabilities of the robot used. Their 7-DoF robot has three links equipped with 360 • sensing capability provided by so-called proximity-sensing-cuffs [43].…”

Section: A Reactive Collision-avoidance and Contour Following (At-i Bt-i)mentioning

confidence: 99%

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

et al. 2022

View full text Add to dashboard Cite

Section: A Reactive Collision-avoidance and Contour Following (At-i Bt-i)mentioning

confidence: 99%

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

et al. 2022

View full text Add to dashboard Cite

“…For example, in robot control based on proximity perception information, avoidance of collisions with objects and humans [26], [27] and robotic grasp control strategies for accurate object grasping [28], [29] have been studied.…”

Section: B Robot Control Using Proximity Sensor Feedbackmentioning

confidence: 99%

Pre-Landing Control for a Legged Robot Based on Tiptoe Proximity Sensor Feedback

2022

View full text Add to dashboard Cite

The moment a legged robot touches the ground, the tip of its toe can experience a significant impact force. It is preferable to keep the landing impact force small because it causes imbalance and damage to the frame, motors, gears, and other components of the robot legs. In this paper, we propose a control method to mitigate the landing impact force by preliminary motion based on the proximity information of the tiptoe before landing. A proximity sensor is mounted on the tiptoe to detect the ground before landing, and feedback control is applied according to the sensor output to reduce the impact force. In landing experiments using a one-legged robot equipped with a proximity sensor on a tiptoe, we evaluated the effects of changing the sensor offset distance and the feedback gains on impact force mitigation. The results show that the landing impact force was mitigated by reducing the relative velocity of the tiptoe and the ground using the proposed proximity feedback control.

show abstract

“…A novel sensor proposed in [ 22 ], which consists of skins with proximity sensors mounted on the robot outer shell, provides an interesting solution to occlusion-free and low-latency perception. The collision avoidance algorithms, which make extensive use of these properties for fast-reacting motions, have not yet been fully investigated in this work.…”

Section: Robotic Systems and Human-robot Perceptionmentioning

confidence: 99%

Human-Robot Perception in Industrial Environments: A Survey

Bonci

Cheng

Indri

et al. 2021

Sensors

100

View full text Add to dashboard Cite

Perception capability assumes significant importance for human–robot interaction. The forthcoming industrial environments will require a high level of automation to be flexible and adaptive enough to comply with the increasingly faster and low-cost market demands. Autonomous and collaborative robots able to adapt to varying and dynamic conditions of the environment, including the presence of human beings, will have an ever-greater role in this context. However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues. This paper presents a survey on sensory equipment useful for human detection and action recognition in industrial environments. An overview of different sensors and perception techniques is presented. Various types of robotic systems commonly used in industry, such as fixed-base manipulators, collaborative robots, mobile robots and mobile manipulators, are considered, analyzing the most useful sensors and methods to perceive and react to the presence of human operators in industrial cooperative and collaborative applications. The paper also introduces two proofs of concept, developed by the authors for future collaborative robotic applications that benefit from enhanced capabilities of human perception and interaction. The first one concerns fixed-base collaborative robots, and proposes a solution for human safety in tasks requiring human collision avoidance or moving obstacles detection. The second one proposes a collaborative behavior implementable upon autonomous mobile robots, pursuing assigned tasks within an industrial space shared with human operators.

show abstract

Collision Avoidance with Proximity Servoing for Redundant Serial Robot Manipulators

Cited by 26 publications

References 17 publications

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Pre-Landing Control for a Legged Robot Based on Tiptoe Proximity Sensor Feedback

Human-Robot Perception in Industrial Environments: A Survey

Contact Info

Product

Resources

About